CN116922357A - Tendon sheath driving and passive energy storage-based upper limb auxiliary exoskeleton robot - Google Patents

Abstract

The invention relates to an upper limb auxiliary exoskeleton robot based on tendon sheath driving and passive energy storage, which comprises a left arm unit and a right arm unit which are symmetrically arranged at the upper end of a back skeleton, wherein the left arm unit and the right arm unit respectively comprise a shoulder connecting rod connected with the back skeleton, a big arm unit connected with the shoulder connecting rod through a shoulder joint and a small arm unit connected with the big arm unit through an elbow joint; the lower end of the back skeleton is connected with a waist mounting plate; the foot switch is connected with the controller in a wireless mode. The tendon sheath device comprises a first flexible rope connected with a first driving device, a second flexible rope connected with a second driving device and a third flexible rope connected with a third driving device, and the driving devices are respectively used for driving corresponding joints to rotate by pulling and releasing the corresponding flexible ropes.

Description

Tendon sheath driving and passive energy storage-based upper limb auxiliary exoskeleton robot

Technical Field

The invention relates to the field of exoskeleton robots, in particular to an upper limb auxiliary exoskeleton robot based on tendon sheath driving and passive energy storage.

Background

Compared with the traditional surgical operation, the robot-assisted minimally invasive surgical operation has the advantages of accurate target positioning, easiness in realizing minimally invasive operation, capability of performing remote operation and the like. But during surgery the surgeon's arm must remain in motion for a few minutes or longer without moving. During this process, the arm muscles must continue to contract to balance the weight on the arm, which can lead to muscle soreness and directly impact the success rate of the procedure. Accordingly, in order to reduce the negative impact of the surgeon maintaining arm position for a long period of time on the procedure, there is a strong need for an auxiliary device, such as an upper extremity exoskeleton, to assist the surgeon in performing the procedure.

The flexible exoskeleton has the characteristics of softness and comfort and adaptability to body changes, so that the flexible exoskeleton is widely applied to rehabilitation training, exercise assistance and the like. The tendon sheath mechanism is a transmission mechanism based on flexible materials, force and displacement transmission is realized through relative movement of internal tendons and an outer sheath, and the tendon sheath driving mechanism has the excellent characteristics of small size and mass, flexible and changeable transmission path, suitability for long-distance torque transmission and the like, so that the exoskeleton based on tendon sheath driving can well meet various requirements of the upper limb auxiliary exoskeleton.

Numerous researchers have been researching and developing various types of wearable exoskeletons, which, given their utility in specific applications such as medical rehabilitation and the increasing various types of demands, remain challenging in terms of mechanical design, control, and human-machine interaction. Patent publication CN104097213a discloses an upper limb exoskeleton of a parallel drive joint, which is driven by gears, and has large mass, relatively low adaptability, high energy consumption and high manufacturing cost. The publication CN108500957a discloses a wearable flexible upper limb exoskeleton, which is controlled to move by a brushless motor and an electromagnetic clutch, and has high cost, complex structure and potential failure safety problem.

Disclosure of Invention

The invention aims to overcome the defects and provide an upper limb auxiliary exoskeleton robot based on tendon sheath driving and passive energy storage.

In order to achieve the above purpose, the present invention adopts the following technical scheme: the back frame is characterized by comprising a back frame, wherein a left arm unit and a right arm unit are symmetrically arranged at the upper end of the back frame, the left arm unit and the right arm unit are identical in structure, each of the left arm unit and the right arm unit respectively comprises a shoulder connecting rod connected with the back frame, a big arm unit connected with the shoulder connecting rod through a shoulder joint and a forearm unit connected with the big arm unit through an elbow joint, the shoulder joint comprises a first joint for controlling the big arm to be lifted laterally and a second joint for controlling the big arm to be lifted forward, the first joint, the second joint and the elbow joint are identical in structure, each of the first joint, the second joint and the elbow joint respectively comprise a matched fixing seat and a rotary seat, and the fixing seat and the rotary seat are connected through a bearing and a torsion spring; the lower end of the back skeleton is connected with a waist mounting plate, a waist binding belt is arranged on the waist mounting plate, and a shoulder binding belt for connecting the shoulder connecting rod and the waist mounting plate is arranged between the shoulder connecting rod and the waist mounting plate;

the tendon sheath device comprises a first flexible rope, a second flexible rope and a third flexible rope, one end of the first flexible rope is connected with the first driving device, and the other end of the first flexible rope is fixed with a rotating seat of the first joint after passing through the first tension sensor module; one end of the second flexible cable is connected with the second driving device, and the other end of the second flexible cable is fixed with a rotating seat of the second joint after passing through the second tension sensor module; one end of the third flexible cable is connected with the third driving device, and the other end of the third flexible cable is fixed with the rotating seat of the elbow joint after passing through the third tension sensor module; the driving devices drive the corresponding joints to rotate by pulling and releasing the corresponding flexible ropes respectively; the first tension sensor module, the second tension sensor module and the third tension sensor module have the same structure and respectively comprise a first pulley, a second pulley and a third pulley which are sequentially arranged, and a pressure sensor is arranged below a pulley bracket for installing the second pulley;

the foot switch is connected with the controller in a wireless mode.

The utility model discloses a magnetic encoder, including fixing base, rotary seat, bearing, magnetic encoder, V type groove has been seted up on the outside circumference of rotary seat, the fixing base all is equipped with respectively with torsional spring matched with torsional spring groove with the medial surface of rotary seat, the one end and the fixing base of torsional spring are connected, the other end and the rotary seat of torsional spring are connected, the lateral surface of fixing base is equipped with the bearing cap, the bearing cap on install magnetic encoder, install on the rotary seat with magnetic encoder matched with magnet, the outside circumference of rotary seat on set up V type groove, magnetic encoder link to each other with the controller.

The first driving device, the second driving device and the third driving device have the same structure and respectively comprise a linear motor, a ball screw linear module and a photoelectric limiting device, wherein the ball screw linear module comprises a screw, a screw seat, a sliding block which moves with a screw nut and forms sliding fit with the screw seat, and a flexible cable fixing seat which is fixed at the upper end of the sliding block; the photoelectric limiting device comprises a light shielding sheet fixed on the sliding block, a fixed rail arranged along the length direction of the screw rod and fixed on the outer side of the screw rod seat, and a first photoelectric switch and a second photoelectric switch which are fixed on the fixed rail in the front-back direction, wherein the first photoelectric switch and the second photoelectric switch are groove-type switches and the notch of the first photoelectric switch is upward, the light shielding sheet is L-shaped as a whole, the horizontal end of the light shielding sheet is fixed with the sliding block, the vertical end of the light shielding sheet is matched with the first photoelectric switch and the second photoelectric switch, and the first photoelectric switch and the second photoelectric switch are fixed with the fixed rail through the photoelectric switch fixing seat respectively.

The large arm unit comprises a first connecting rod connected with a rotating seat of a second joint and a second connecting rod connected with a fixed seat of an elbow joint, wherein the first connecting rod is connected with the second connecting rod through a connecting rod, the fixed positions of the first connecting rod and the second connecting rod on the connecting rod are adjustable, the length of the first connecting rod is smaller than that of the second connecting rod, and a first arc-shaped plate for assembling a first telescopic strap is arranged on the inner side surface of the second connecting rod;

the forearm unit comprises a forearm connecting rod connected with a rotating seat of an elbow joint, and a second arc-shaped plate for assembling a second telescopic strap is arranged on the inner side surface of the forearm connecting rod.

The back skeleton include left skeleton and right skeleton that the structure is the same and symmetry set up, wherein: the upper end of the left framework is connected with the left arm unit, the upper end of the right framework is connected with the right arm unit, and the lower ends of the left framework and the right framework are both fixed with the waist mounting plate; the left framework and the right framework respectively comprise a plurality of hinge groups which are sequentially connected in series from top to bottom, and each hinge group is formed by connecting two hinge single pages through a hinge shaft.

The novel tension sensor comprises a first tension sensor module, a second tension sensor module and a third tension sensor module, and is characterized in that the first tension sensor module, the second tension sensor module and the third tension sensor module respectively comprise a sensor module base, a first pulley is directly arranged on the sensor module base, a second pulley is arranged on a pulley support, a third pulley is arranged on a joint pulley support, the front end of the sensor module base is provided with a Bowden wire tail, the rear end of the sensor module base is provided with a pressure sensor, the pulley support is fixed on the pressure sensor, and the first pulley, the second pulley and the third pulley are V-shaped groove pulleys.

The sensor module base in the first tension sensor module is installed on the shoulder connecting rod, the joint pulley support in the first tension sensor module is installed on the fixing seat of the first joint, the sensor module base in the second tension sensor module is installed on the rotating seat of the first joint, the joint pulley support in the second tension sensor module is installed on the fixing seat of the second joint, the sensor module base in the third tension sensor module is installed on the second connecting rod of the big arm unit, and the joint pulley support in the third tension sensor module is installed on the fixing seat of the elbow joint.

The fixed seat of the first joint is fixed with the shoulder connecting rod, the rotating seat of the first joint is fixed with the fixed seat of the second joint through an L-shaped connecting piece, the rotating seat of the second joint is fixed with the upper end of the big arm unit, the fixed seat of the elbow joint is fixed with the lower end of the big arm unit, and the rotating seat of the elbow joint is fixed with the forearm unit.

The tendon sheath device also comprises a bowden wire head, a bowden wire sheath body and a bowden wire tail, wherein the bowden wire sheath body is used for connecting the bowden wire head and the bowden wire tail.

The first driving device, the second driving device and the third driving device are arranged on the module mounting plate in parallel, the module mounting plate is fixed on a frame, and the frame is a vertical aluminum alloy section frame.

The invention has the beneficial effects that:

1. the invention has three active degrees of freedom based on tendon sheath driving and one passive degree of freedom realized by the hinge, the back hinge framework can be attached to the curved surface of the back of a human body, and the whole robot has stronger flexibility and compliance compared with a general upper limb auxiliary exoskeleton robot.

2. According to the invention, the joints are controlled in a tendon sheath flexible transmission and torsion spring energy storage open-loop driving mode, so that the complexity of a mechanical structure is optimized on the premise of ensuring the control precision, and the overall manufacturing cost is reduced; meanwhile, the power transmitted to the exoskeleton by the original linear motor is buffered through the combined movement of the flexible rope and the linear torsion spring, and the movement and the power of the linear motor are processed flexibly, so that the exoskeleton is softer when assisting the upper limbs of the human body, and the human body is prevented from being injured.

3. The invention adopts the tendon sheath driving system, can remotely drive in a long distance, enables the driving control to be far away from an auxiliary exoskeleton system, realizes a light and compact exoskeleton structure, and avoids the burden of a doctor caused by the dead weight of a motor control system.

4. The controller can realize the switching between a follow-up mode and a joint locking mode through the foot switch. In the follow-up mode, the force tracking of the exoskeleton on a wearer is realized by adopting a pressure sensor and a magnetic encoder on the exoskeleton joint and adopting an admittance principle, and at the moment, the linear motor drives the joint to counteract the gravity action of the exoskeleton, so that the posture is maintained, and the joint can be guided to move only by external slight acting force, so that the follow-up assistance is realized; in the joint locking mode, the linear motor can lock the angle of the exoskeleton joint to provide powerful support for the arm of a doctor, medical auxiliary positioning is achieved, and extra risks caused by tremble of the arm due to fatigue of the arm are reduced.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic structural view of the back skeleton and the left and right arm units of the present invention.

Fig. 3 is a schematic diagram of the structure of the left arm unit of the present invention.

Fig. 4 is a schematic diagram of a left arm unit according to the second embodiment of the present invention.

Fig. 5 is a schematic structural view of the left skeleton of the present invention.

Fig. 6 is a structural view of the left frame hinge group of the present invention.

Fig. 7 is a schematic exploded view of the left frame hinge assembly of the present invention.

Fig. 8 is a schematic structural view of the driving device of the present invention.

Fig. 9 is a schematic structural view of a first driving device of the present invention.

Fig. 10 is an exploded view of the first driving device of the present invention.

Fig. 11 is a schematic view of the elbow joint of the present invention.

Fig. 12 is a schematic view of an exploded view of the elbow joint of the present invention.

Fig. 13 is a schematic structural diagram of a first joint and a second tension sensor module according to the present invention.

Fig. 14 is a connection structure diagram of a first joint and a second joint according to the present invention.

The marks in the above figures are: the first flexible cable 11, the second flexible cable 12, the third flexible cable 13, the bowden cable head 14, the bowden cable tail 15, the bowden cable sheath 16, the first driving device 21, the linear motor 211, the lead screw 212, the lead screw seat 213, the slider 214, the flexible cable fixing seat 215, the coupling 216, the motor mounting plate 217, the light shielding sheet 218, the fixing rail 219, the first photoelectric switch 220, the second photoelectric switch 221, the photoelectric switch fixing seat 222, the second driving device 22, the third driving device 23, the first tension sensor module 24, the first pulley 241, the second pulley 242, the pulley support 2421, the third pulley 243, the joint pulley support 2431, the pressure sensor 244, the sensor module base 245, the second tension sensor module 25, the third tension sensor module 26 shoulder link 3, shoulder strap 31, shoulder joint 4, first joint 41, fixed seat 411, rotary seat 412, bearing 413, torsion spring 414, torsion spring slot 415, bearing cover 416, magnetic encoder 417, magnet 418, V-shaped slot 419, bearing retainer 420, second joint 42, L-shaped connector 43, large arm unit 5, first link 51, second link 52, connecting rod 53, first telescoping strap 54, first arc plate 55, elbow joint 6, small arm unit 7, small arm link 71, second telescoping strap 72, second arc plate 73, waist mounting plate 8, waist strap 81, left frame 91, hinge single page 911, hinge shaft 912, right frame 92, left arm unit 100, right arm unit 200, foot switch 300, frame 400, module mounting plate 401.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

the upper limb auxiliary exoskeleton robot based on tendon sheath driving and passive energy storage as shown in fig. 1, 2, 3 and 4 comprises a back skeleton, wherein a left arm unit 100 and a right arm unit 200 are symmetrically arranged at the upper end of the back skeleton, and the left arm unit 100 and the right arm unit 200 are connected with the back skeleton to form the upper limb auxiliary exoskeleton. The left arm unit 100 and the right arm unit 200 have the same structure and respectively comprise a shoulder connecting rod 3 connected with a back framework, a big arm unit 5 connected with the shoulder connecting rod 3 through a shoulder joint 4 and a small arm unit 7 connected with the big arm unit 5 through an elbow joint 6, wherein the lower end of the back framework is connected with a waist mounting plate 8, a waist binding belt 81 is arranged on the waist mounting plate 8, and a shoulder binding belt 31 for connecting the shoulder connecting rod 3 and the waist mounting plate 8 is arranged between the shoulder connecting rod 3 and the waist mounting plate 8.

Further, the back skeleton includes left skeleton 91 and right skeleton 92 that the structure is the same and symmetry sets up, wherein: the upper end of the left framework 91 is connected with the left arm unit 100, the upper end of the right framework 92 is connected with the right arm unit 200, and the lower ends of the left framework 91 and the right framework 92 are fixed with the waist mounting plate 8; as shown in fig. 5 and 6, the left and right frames 91 and 92 each include a plurality of hinge groups formed by sequentially connecting in series from top to bottom, each hinge group being formed by connecting two hinge single sheets 911 through a hinge shaft 912. In this embodiment, the left skeleton 91 and the right skeleton 92 are formed by connecting six hinge groups in series, and the hinge type back skeleton can be attached to the curved surface of the back of the human body, so that the comfort level during wearing is improved.

Further, the shoulder joint 4 includes a first joint 41 for controlling the lateral lifting of the forearm and a second joint 42 for controlling the forward lifting of the forearm, as shown in fig. 11 and 12, the first joint 41, the second joint 42 and the elbow joint 6 have the same structure, and each includes a fixed seat 411 and a rotating seat 412 which are mutually matched, the fixed seat 411 and the rotating seat 412 are connected through a bearing 413 and a torsion spring 414, and the bearing 413 is fixed through a bearing cover 416 and a bearing retainer 420. Specifically, the inner side surfaces of the fixed seat 411 and the rotating seat 412 are respectively provided with a torsion spring slot 415 matched with a torsion spring 414, one end of the torsion spring 414 is connected with the fixed seat 411, and the other end of the torsion spring 414 is connected with the rotating seat 412 for pre-tightening and energy storage. The outer side of the fixed seat 411 is provided with a bearing cover 416, the bearing cover 416 is provided with a magnetic encoder 417, the magnetic encoder 417 is connected with the controller, a magnet 418 matched with the magnetic encoder 417 is arranged on the rotating seat 412, and the magnetic encoder 417 obtains the rotation angle of the joint by measuring the magnetic field change of the magnet on the rotating seat. The outer circumference of the rotating seat 412 is provided with a V-shaped groove 419, and the V-shaped groove 419 is used for winding and fixing the flexible cable.

More specifically, the fixed seat of the first joint 41 is fixed to the shoulder link 3, the rotating seat of the first joint 41 is fixed to the fixed seat of the second joint 42 through an L-shaped connector 43, as shown in fig. 14, the rotating seat of the second joint 42 is fixed to the upper end of the forearm unit 5, the fixed seat of the elbow joint 6 is fixed to the lower end of the forearm unit 5, and the rotating seat of the elbow joint 6 is fixed to the forearm unit 7.

Further, the big arm unit 5 includes a first connecting rod 51 connected with the rotating seat of the second joint 42 and a second connecting rod 52 connected with the fixed seat of the elbow joint 6, the first connecting rod 51 and the second connecting rod 52 are connected through a connecting rod 53, the fixed positions of the first connecting rod 51 and the second connecting rod 52 on the connecting rod 53 are adjustable, the length of the first connecting rod 51 is smaller than that of the second connecting rod 52, and a first arc-shaped plate 55 for assembling a first telescopic strap 54 is arranged on the inner side surface of the second connecting rod 52. That is, the first link 51 and the second link 52 can be adjusted by the connecting rod 53 to change the overall length of the large arm so as to adapt to wearers with different heights and weights. The forearm unit 7 includes a forearm link 71 connected to a swivel seat of the elbow joint 6, and a second arc plate 73 for fitting a second telescopic strap 72 is provided on an inner side surface of the forearm link 71. The first and second telescoping straps 54, 72 are used to secure the large and small arms when worn.

The present invention also includes a foot switch 300 that is wirelessly coupled to the controller. In the working process, the foot switch 300 is stepped on, so that two working modes of the robot can be switched.

The invention further comprises a tendon sheath device, as shown in fig. 8, wherein the tendon sheath device comprises a first flexible cable 11, a second flexible cable 12 and a third flexible cable 13, one end of the first flexible cable 11 is connected with a first driving device 21, and the other end of the first flexible cable 11 is fixed with a rotating seat of a first joint 41 after passing through a first tension sensor module 24; one end of the second flexible cable 12 is connected with the second driving device 22, and the other end of the second flexible cable 12 is fixed with a rotating seat of the second joint 42 after passing through the second tension sensor module 25; one end of the third flexible cable 13 is connected with a third driving device 23, and the other end of the third flexible cable 13 is fixed with a rotating seat of the elbow joint 6 after passing through a third tension sensor module 26; the driving devices drive the corresponding joints to rotate by pulling and releasing the corresponding flexible ropes respectively. The tendon sheath device further comprises a bowden wire head 14, a bowden wire sheath 16, a bowden wire tail 15, the bowden wire sheath 16 being used to connect the bowden wire head 14 and the bowden wire tail 15.

Further, as shown in fig. 9 and 10, the first driving device 21, the second driving device 22 and the third driving device 23 have the same structure and respectively comprise a linear motor 211, a ball screw linear module and a photoelectric limiting device, wherein the ball screw linear module comprises a screw 212, a screw seat 213, a sliding block 214 which forms screw nut motion with the screw 212 and forms sliding fit with the screw seat 213, and a flexible cable fixing seat 215 fixed at the upper end of the sliding block 214, the linear motor 211 is connected with the screw 212 through a coupling 216, and a motor mounting plate 217 for mounting the linear motor 211 is fixedly connected with the tail end of the screw seat 213, and the front end of the screw seat 213 is provided with a bowden cable head 14; the photoelectric limiting device comprises a light shielding sheet 218 fixed on the sliding block 214, a fixed rail 219 arranged along the length direction of the screw rod 212 and fixed on the outer side of the screw rod seat 213, a first photoelectric switch 220 and a second photoelectric switch 221 fixed on the fixed rail 219 in the front-back direction, wherein the first photoelectric switch 220 and the second photoelectric switch 221 are groove-shaped switches, the notch of each of the first photoelectric switch 220 and the second photoelectric switch 221 is upward, the light shielding sheet 218 is integrally L-shaped, the horizontal end of each light shielding sheet is fixed with the sliding block 214, the vertical end of each light shielding sheet is matched with the first photoelectric switch 220 and the second photoelectric switch 221, and the first photoelectric switch 220 and the second photoelectric switch 221 are respectively fixed with the fixed rail 219 through a photoelectric switch fixing seat 222.

Further, the first driving device 21, the second driving device 22 and the third driving device 23 are arranged on the module mounting plate 401 in parallel, the module mounting plate 401 is fixed on the frame 400, and the frame 400 is a vertical aluminum alloy section frame.

Further, the first tension sensor module 24, the second tension sensor module 25 and the third tension sensor module 26 have the same structure, and each of the first, second and third tension sensor modules respectively comprises a first pulley 241, a second pulley 242 and a third pulley 243 which are sequentially arranged, and a pressure sensor 244 is arranged below a pulley bracket for installing the second pulley 242; the first tension sensor module 24, the second tension sensor module 25 and the third tension sensor module 26 respectively comprise a sensor module base 245, a first pulley 241 is directly installed on the sensor module base 245, a second pulley 242 is installed on a pulley support 2421, a third pulley 243 is installed on a joint pulley support 2431, a bowden cable tail 15 is installed at the front end of the sensor module base 245, a pressure sensor 244 is installed at the rear end of the sensor module base 245, a pulley support 2421 is fixed on the pressure sensor 244, and the first pulley 241, the second pulley 242 and the third pulley 243 are V-shaped groove pulleys.

Specifically, the sensor module base in the first tension sensor module 24 is mounted on the shoulder link 3, the joint pulley bracket in the first tension sensor module 24 is mounted on the fixing base of the first joint 41, the sensor module base in the second tension sensor module 25 is mounted on the rotating base of the first joint 41, as shown in fig. 13, the joint pulley bracket in the second tension sensor module 25 is mounted on the fixing base of the second joint 42, the sensor module base in the third tension sensor module 26 is mounted on the second link of the boom unit 5, and the joint pulley bracket in the third tension sensor module 26 is mounted on the fixing base of the elbow joint 6.

The working principle and working process of the invention are as follows:

1. the winding principle of the flexible cable.

The first flexible cord 11, the second flexible cord 12 and the third flexible cord 13 of the present invention have the same winding direction, and the first flexible cord is taken as an example: one end of the first flexible cable 11 is fixed with a flexible cable fixing seat 215 on the first driving device 21 through a steel ball, the other end of the first flexible cable 11 passes through a bowden cable head 14 fixed at the front end of a screw seat 213 and enters a bowden cable sheath 16, then passes through a bowden cable tail 15 at the front end of a first tension sensor module 24, sequentially winds around a first pulley 241, a second pulley 242 and a third pulley 243 in the first tension sensor module 24, then winds around a V-shaped groove 419 on a rotating seat of the first joint 41, and is finally fixed in a fixing hole on the V-shaped groove 419 through the steel ball. The first flexible cable 11 passes through the pulleys in the first tension sensor module 24 after passing out of the bowden cable tail 15 and forms a certain included angle, so that the tension of the first flexible cable 11 is converted into the pressure of the pressure sensor 244, and the acquisition of joint force is realized.

2. The working principle of each driving device.

The first driving device 21, the second driving device 22 and the third driving device 23 of the present invention have the same working principle, and the first driving device 21 is taken as an example:

(1) The working principle of the ball screw linear module.

The linear motor 211 in the first driving device 21 receives the signal work of the controller, and drives the screw rod 212 to rotate through the coupler 216, so that the sliding block 214 linearly slides along the limiting direction, the movement of the sliding block 214 drives the flexible cable fixing seat 215 to synchronously move, the first flexible cable 11 is pulled, and meanwhile, the rotating seat of the first joint 41 is driven to rotate, so that the rotation of the large arm is realized. The linear motor 211 only outputs pulling force, and the first flexible cable 11 returns by means of resilience of the torsion spring.

(2) Working principle of photoelectric limiting device:

the linear motor 211 in the first driving device 21 receives the signal work of the controller, and drives the screw rod 212 to rotate through the coupler 216, so that the sliding block 214 linearly slides along the limiting direction, the movement of the sliding block 214 synchronously drives the light shielding sheet 218 to move, the first photoelectric switch 220 and the second photoelectric switch 221 are respectively positioned at two ends of the stroke of the sliding block 214, when the light shielding sheet 218 moves to the photoelectric switch, the light source is shielded, the output signal of the photoelectric switch changes, the linear motor power supply is forcibly cut off, the movement of the sliding block 214 is limited, and the rotation range of the joint is limited.

3. Principle of rotation of each joint.

The first joint, the second joint and the elbow joint of the invention have the same working principle, and the first joint is taken as an example: the linear motor 211 in the first driving device 21 works to pull the first flexible cable 11, the first flexible cable 11 drives the rotating seat of the first joint 41 to rotate around the fixed seat, so that the rotation of the first joint 41 is realized, the torsion spring 414 is further compressed, and when the first flexible cable 11 is loosened, the rotating seat moves towards the direction returning to the initial state due to the elastic action of the torsion spring 414.

4. The working process of the invention.

Firstly, the exoskeleton robot is worn in a power-off state, namely, the human exoskeleton is fixed on the back of a human body through a waist strap, a left arm unit and a right arm unit are worn on the left arm and the right arm of the human body through a first telescopic strap and a second telescopic strap, and the length of a large arm unit is adjusted through a connecting rod, so that the large arm unit is not misplaced with the human body, and the robot is in a follow-up mode.

Secondly, the exoskeleton robot is electrified, the positions of the big arm and the small arm are adjusted according to the positions required by the operation, after the electrified state, the magnetic encoder synchronously detects the current angles of all groups of joints and feeds back to the controller, the controller calculates joint force required for maintaining the current pose, the corresponding driving device transmits the tensile force to all joints through the tendon sheath device to realize pose maintenance, the foot switch is stepped down, the following mode is switched into the joint locking mode, and the operation is started. When the pedal switch is stepped on, the controller controls the linear motor to enable the rotating speed of the linear motor to be zero, the corresponding flexible rope is tightened, the restraint on the rotation freedom degrees of the first joint, the second joint and the elbow joint is achieved, powerful support is provided for the arm of a doctor, and the additional risk brought to the operation due to the arm fatigue and tremble is reduced.

When the positions of the arm and the exoskeleton are required to be changed in the operation process, the foot switch can be stepped down again to be switched to the follow-up mode for adjustment, and the foot switch is stepped down to be switched to the joint locking mode after the adjustment is finished.

Finally, the whole operation is completed after the repeated adjustment of the pose and the locking of the joints are carried out according to the requirements.

The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (10)

1. Tendon sheath driving and passive energy storage-based upper limb auxiliary exoskeleton robot is characterized in that: the back frame is characterized by comprising a back frame, wherein a left arm unit (100) and a right arm unit (200) are symmetrically arranged at the upper end of the back frame, the left arm unit (100) and the right arm unit (200) are identical in structure, each of the left arm unit (100) and the right arm unit (200) respectively comprises a shoulder connecting rod (3) connected with the back frame, a big arm unit (5) connected with the shoulder connecting rod (3) through a shoulder joint (4) and a forearm unit (7) connected with the big arm unit (5) through an elbow joint (6), the shoulder joint (4) comprises a first joint (41) for controlling the big arm to be lifted and a second joint (42) for controlling the big arm to be lifted, the first joint (41), the second joint (42) and the elbow joint (6) are identical in structure, each of the left arm unit and the right arm unit respectively comprises a fixed seat (411) and a rotating seat (412) which are mutually matched, and each fixed seat (411) is connected with the rotating seat (412) through a bearing (413) and a torsion spring (414); the lower end of the back framework is connected with a waist mounting plate (8), a waist binding belt (81) is arranged on the waist mounting plate (8), and a shoulder binding belt (31) for connecting the shoulder connecting rod (3) and the waist mounting plate (8) is arranged between the shoulder connecting rod and the waist mounting plate;

the tendon sheath device comprises a first flexible cable (11), a second flexible cable (12) and a third flexible cable (13), one end of the first flexible cable (11) is connected with a first driving device (21), and the other end of the first flexible cable (11) is fixed with a rotating seat of a first joint (41) after passing through a first tension sensor module (24); one end of the second flexible rope (12) is connected with the second driving device (22), and the other end of the second flexible rope (12) is fixed with a rotating seat of the second joint (42) after passing through the second tension sensor module (25); one end of the third flexible cable (13) is connected with a third driving device (23), and the other end of the third flexible cable (13) is fixed with a rotating seat of the elbow joint (6) after passing through a third tension sensor module (26); the driving devices drive the corresponding joints to rotate by pulling and releasing the corresponding flexible ropes respectively; the first tension sensor module (24), the second tension sensor module (25) and the third tension sensor module (26) have the same structure, respectively comprise a first pulley (241), a second pulley (242) and a third pulley (243) which are sequentially arranged, and a pressure sensor (244) is arranged below a pulley bracket for installing the second pulley (242);

the foot pedal (300) is connected with the controller in a wireless mode.

2. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the utility model discloses a magnetic encoder, including fixing base (411) and rotation seat (412), fixing base (411) and rotation seat (412) medial surface all are equipped with respectively with torsional spring (414) matched with torsional spring groove (415), the one end and the fixing base (411) of torsional spring (414) are connected, the other end and the rotation seat (412) of torsional spring (414) are connected, the lateral surface of fixing base (411) is equipped with bearing cap (416), bearing cap (416) on install magnetic encoder (417), install on rotation seat (412) with magnetic encoder (417) matched with magnet (418), set up V type groove (419) on the outside circumference of rotation seat (412), magnetic encoder (417) link to each other with the controller.

3. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the structure of the first driving device (21), the structure of the second driving device (22) and the structure of the third driving device (23) are the same, the structure of the first driving device, the structure of the second driving device and the structure of the third driving device are the same, the structure of the third driving device respectively comprises a linear motor (211), a ball screw linear module and a photoelectric limiting device, the ball screw linear module comprises a screw (212), a screw seat (213), a sliding block (214) which moves with a screw nut formed by the screw (212) and forms sliding fit with the screw seat (213), and a flexible cable fixing seat (215) which is fixed at the upper end of the sliding block (214), the linear motor (211) is connected with the screw (212) through a coupler (216), and a motor mounting plate (217) for mounting the linear motor (211) is fixedly connected with the tail end of the screw seat (213), and the front end of the screw seat (213) is provided with a Bowden wire head (14); the photoelectric limiting device comprises a light shielding sheet (218) fixed on a sliding block (214), a fixed rail (219) arranged along the length direction of a screw rod (212) and fixed on the outer side of a screw rod seat (213), and a first photoelectric switch (220) and a second photoelectric switch (221) fixed on the fixed rail (219) in the front-back direction, wherein the first photoelectric switch (220) and the second photoelectric switch (221) are groove-shaped switches and the notch of the first photoelectric switch and the second photoelectric switch is upward, the light shielding sheet (218) is L-shaped, the horizontal end of the light shielding sheet is fixed with the sliding block (214), the vertical end of the light shielding sheet is matched with the first photoelectric switch (220) and the second photoelectric switch (221), and the first photoelectric switch (220) and the second photoelectric switch (221) are fixed with the fixed rail (219) through photoelectric switch fixing seats (222).

4. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the large arm unit (5) comprises a first connecting rod (51) connected with a rotating seat of the second joint (42) and a second connecting rod (52) connected with a fixed seat of the elbow joint (6), the first connecting rod (51) is connected with the second connecting rod (52) through a connecting rod (53), the fixed positions of the first connecting rod (51) and the second connecting rod (52) on the connecting rod (53) are adjustable, the length of the first connecting rod (51) is smaller than that of the second connecting rod (52), and a first arc-shaped plate (55) for assembling a first telescopic binding belt (54) is arranged on the inner side surface of the second connecting rod (52);

the forearm unit (7) comprises a forearm connecting rod (71) connected with a rotating seat of the elbow joint (6), and a second arc-shaped plate (73) for assembling a second telescopic strap (72) is arranged on the inner side surface of the forearm connecting rod (71).

5. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the back skeleton include left skeleton (91) and right skeleton (92) that the structure is the same and symmetry set up, wherein: the upper end of the left framework (91) is connected with a left arm unit (100), the upper end of the right framework (92) is connected with a right arm unit (200), and the lower ends of the left framework (91) and the right framework (92) are fixed with a waist mounting plate (8); the left framework (91) and the right framework (92) respectively comprise a plurality of hinge groups which are formed by sequentially connecting the left framework and the right framework in series from top to bottom, and each hinge group is formed by connecting two hinge single pages (911) through a hinge shaft (912).

6. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the novel intelligent tension sensor is characterized in that the first tension sensor module (24), the second tension sensor module (25) and the third tension sensor module (26) respectively comprise a sensor module base (245), the first pulley (241) is directly arranged on the sensor module base (245), the second pulley (242) is arranged on the pulley support (2421), the third pulley (243) is arranged on the joint pulley support (2431), the front end of the sensor module base (245) is provided with a bowden cable tail (15), the rear end of the sensor module base (245) is provided with a pressure sensor (244), the pulley support (2421) is fixed on the pressure sensor (244), and the first pulley (241), the second pulley (242) and the third pulley (243) are all V-shaped groove pulleys.

7. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 6, wherein: the sensor module base in the first tension sensor module (24) is installed on the shoulder connecting rod, the joint pulley support in the first tension sensor module (24) is installed on the fixing seat of the first joint (41), the sensor module base in the second tension sensor module (25) is installed on the rotating seat of the first joint (41), the joint pulley support in the second tension sensor module (25) is installed on the fixing seat of the second joint (42), the sensor module base in the third tension sensor module (26) is installed on the second connecting rod of the big arm unit (5), and the joint pulley support in the third tension sensor module (26) is installed on the fixing seat of the elbow joint (6).

8. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the fixing seat of the first joint (41) is fixed with the shoulder connecting rod (3), the rotating seat of the first joint (41) is fixed with the fixing seat of the second joint (42) through an L-shaped connecting piece (43), the rotating seat of the second joint (42) is fixed with the upper end of the big arm unit (5), the fixing seat of the elbow joint (6) is fixed with the lower end of the big arm unit (5), and the rotating seat of the elbow joint (6) is fixed with the forearm unit (7).

9. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the tendon sheath device also comprises a bowden wire head (14), a bowden wire sheath body (16) and a bowden wire tail (15), wherein the bowden wire sheath body (16) is used for connecting the bowden wire head (14) and the bowden wire tail (15).

10. The tendon sheath driving and passive energy storage based upper limb auxiliary exoskeleton robot as claimed in claim 1, wherein: the first driving device (21), the second driving device (22) and the third driving device (23) are arranged on the module mounting plate (401) in parallel, the module mounting plate (401) is fixed on the frame (400), and the frame (400) is a vertical aluminum alloy section frame.